00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 00030 #include <boost/random/mersenne_twister.hpp> 00031 #include <gtest/gtest.h> 00032 #include <swri_math_util/random.h> 00033 00034 #include <ros/ros.h> 00035 00036 #ifdef BOOST_1_46 00037 namespace boost_random = boost; 00038 #else 00039 namespace boost_random = boost::random; 00040 #endif 00041 00042 TEST(RandomTests, GetUniformRandomSample) 00043 { 00044 boost_random::mt19937 gen; 00045 00046 std::vector<int32_t> sample; 00047 swri_math_util::GetUniformRandomSample<boost_random::mt19937>(gen, 0, 100, 10, sample); 00048 00049 EXPECT_EQ(10, sample.size()); 00050 00051 swri_math_util::GetUniformRandomSample<boost_random::mt19937>(gen, 0, 100, 90, sample); 00052 EXPECT_EQ(90, sample.size()); 00053 } 00054 00055 TEST(RandomTests, RandomGenerator) 00056 { 00057 swri_math_util::RandomGenerator gen; 00058 00059 std::vector<int32_t> sample; 00060 gen.GetUniformRandomSample(0, 100, 10, sample); 00061 00062 EXPECT_EQ(10, sample.size()); 00063 00064 gen.GetUniformRandomSample(0, 100, 90, sample); 00065 EXPECT_EQ(90, sample.size()); 00066 } 00067 00068 // Run all the tests that were declared with TEST() 00069 int main(int argc, char **argv) 00070 { 00071 testing::InitGoogleTest(&argc, argv); 00072 00073 return RUN_ALL_TESTS(); 00074 }